Evaluate a Linear Controller Design Using Nonlinear Simulation 

Starting with a nonlinear model, design a linear controller and evaluate the performance of the controller on the nonlinear system.

The model of an inverted pendulum is nonlinear, but linear in the input force .

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Design a controller based on the linear model.

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Connect the linear controller to the nonlinear model.

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Simulate the nonlinear closed-loop system.

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